diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 49457c52f8..f6b7de38c3 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -52,9 +52,10 @@ class Controls:
 
     self.sm = sm
     if self.sm is None:
+      ignore = ['ubloxRaw', 'frontFrame'] if SIMULATION else None
       self.sm = messaging.SubMaster(['thermal', 'health', 'model', 'liveCalibration', 'ubloxRaw',
                                      'dMonitoringState', 'plan', 'pathPlan', 'liveLocationKalman',
-                                     'frame', 'frontFrame'])
+                                     'frame', 'frontFrame'], ignore_alive=ignore)
 
     self.can_sock = can_sock
     if can_sock is None:
@@ -199,7 +200,7 @@ class Controls:
     if self.can_rcv_error or (not CS.canValid and self.sm.frame > 5 / DT_CTRL):
       self.events.add(EventName.canError)
     if (self.sm['health'].safetyModel != self.CP.safetyModel and self.sm.frame > 2 / DT_CTRL) or \
-       self.mismatch_counter >= 200:
+      self.mismatch_counter >= 200:
       self.events.add(EventName.controlsMismatch)
     if not self.sm.alive['plan'] and self.sm.alive['pathPlan']:
       # only plan not being received: radar not communicating
diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py
index cb823c9a18..3b3d8e9e40 100755
--- a/tools/sim/bridge.py
+++ b/tools/sim/bridge.py
@@ -61,7 +61,7 @@ def cam_callback(image):
 
   dat = messaging.new_message('frame')
   dat.frame = {
-    "frameId": frame_id, # TODO: can we get frame ID from the CARLA camera?
+    "frameId": image.frame,
     "image": img.tostring(),
     "transform": [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
   }
@@ -89,7 +89,8 @@ def health_function():
     dat.health = {
       'ignitionLine': True,
       'hwType': "blackPanda",
-      'controlsAllowed': True
+      'controlsAllowed': True,
+      'safetyModel': 'hondaNidec'
     }
     pm.send('health', dat)
     time.sleep(0.5)
diff --git a/tools/sim/lib/keyboard_ctrl.py b/tools/sim/lib/keyboard_ctrl.py
index c66bf94e20..0ae11102a4 100644
--- a/tools/sim/lib/keyboard_ctrl.py
+++ b/tools/sim/lib/keyboard_ctrl.py
@@ -44,6 +44,14 @@ def keyboard_poll_thread(q):
       q.put(str("cruise_down"))
     if c == '3':
       q.put(str("cruise_cancel"))
+    if c == 'w':
+      q.put(str("throttle_%f" % 1.0))
+    if c == 'a':
+      q.put(str("steer_%f" % 0.15))
+    if c == 's':
+      q.put(str("brake_%f" % 1.0))
+    if c == 'd':
+      q.put(str("steer_%f" % -0.15))
     if c == 'q':
       exit(0)
 
diff --git a/tools/sim/start_carla.sh b/tools/sim/start_carla.sh
index 2be3d0cc38..b165e3935d 100755
--- a/tools/sim/start_carla.sh
+++ b/tools/sim/start_carla.sh
@@ -16,4 +16,19 @@ if ! $(apt list --installed | grep -q nvidia-container-toolkit); then
 fi
 
 docker pull carlasim/carla:0.9.7
-docker run -it --net=host --gpus all carlasim/carla:0.9.7
+
+if [ -z "$WINDOW" ]; then
+  docker run -it --net=host --gpus all carlasim/carla:0.9.7
+else
+  docker run --name openpilot_carla \
+    --privileged --rm \
+    --net=host \
+    -e SDL_VIDEODRIVER=x11 \
+    -e DISPLAY=$DISPLAY \
+    -v /tmp/.X11-unix:/tmp/.X11-unix \
+    -it \
+    --gpus all \
+    carlasim/carla:0.9.7 \
+    ./CarlaUE4.sh -quality-level=Medium
+fi
+